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Commit ade2709e authored by David  Martínez's avatar David Martínez
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Added new excuse test.

parent e8f0ac07
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......@@ -251,8 +251,9 @@ TEST(ExcuseTest, GenerateExcusesAutas) {
using namespace boost::assign;
FolderExcusePairs test_folders;
insert( test_folders )
( "autas_p06_1" , ExcuseActionPair(ListPredicateGroup("freeFbHb1()"), "placependulum") )
( "autas_p06_2" , ExcuseActionPair(ListPredicateGroup("freeFbHb2()"), "screwpendulumhead")
( "autas_p06_1" , ExcuseActionPair(ListPredicateGroup("freeFbHb1()"), "placependulum") )
( "autas_p06_2" , ExcuseActionPair(ListPredicateGroup("freeFbHb2()"), "screwpendulumhead") )
( "autas_horiz_2" , ExcuseActionPair(ListPredicateGroup("clearB1()") , "placepeg1")
);
BOOST_FOREACH(FolderExcusePairs::value_type folder_excuse, test_folders) {
......
1.0 pegplacedB1FbHb1() pegplacedB2FbHb2() pegplacedB3FbHb3() pegplacedB4FbHb4() shaftplacedSh() pendulumplacedPn() pendulumheadscrewedPh() separatorplacedSp() faceplatefrontplacedFf()
\ No newline at end of file
# General options
scenario = autas
simulator = true
simulator_port = 0
planner_port = 0
simulator_current_state_path = state_simulator.dat
simulator_init_state_path = simulated_init_state
transitions_backup_path = transitions_full.dat
rule_analysis = true
rule_analysis_equivalent_rules = true
rule_analysis_subgoals = false
# exploration
exploration = true
exploration_known_threshold = 2
confirm_dangerous_actions = true
use_rmax = true
use_vmin = false
rmax_reward = 15
vmin_reward = 0.1
# Other Options
remove_nop_rules = true
# learner
pasula_alpha_pen = 0.25
pasula_noise_lower_bound = 1e-10
pasula_noise_lower_bound_default_rule = 1e-12
# Planner
planner = ippc
goal_file = reward.dat
final_reward_action = false
prada_config = config
prada_config_learner = config
prada_config_teacher = config_teacher
nid_rules_path = rules.dat
ground_truth_nid_rules_path = simulated_rules.dat
ppddl_rules_path = rules.ppddl
ppddl_rules_template_path = template_ppddl
planning_time = 2000
planning_fast_time = 1000
planning_horizon = 14
planning_epsilon = 0.05
planning_noop_reward = 0.05
planning_reward_step = 1
# Teacher
teacher = true
teacher_can_fail = false
auto_teacher = true
auto_teacher_excuse_autoexecute = true
auto_teacher_infinite = true
auto_teacher_infinite_retries = 5
auto_teacher_infinite_full_retries = 1
auto_teacher_autodead = true
auto_teacher_zealous = false
auto_teacher_autas_hacks = true
auto_teacher_dangerous_actions = true
# Auto experiments
auto_experiments = true
auto_experiments_num = 30
auto_experiments_auto_finish = true
auto_experiments_auto_next = false
auto_experiments_auto_next_num = 1
auto_experiments_command = false
ACTION: # 121
placepeg2()
CONTEXT:
OUTCOMES:
1 pegplacedB2FbHb2() -freeFbHb2()
0 <noise>
ACTION: # 166
placepeg4()
CONTEXT:
OUTCOMES:
1 pegplacedB4FbHb4() -freeFbHb4()
0 <noise>
ACTION: # 63
placependulum()
CONTEXT:
OUTCOMES:
1 pendulumplacedPn()
0 <noise>
ACTION: # 200
screwpendulumhead()
CONTEXT:
pendulumplacedPn()
OUTCOMES:
1 pendulumheadscrewedPh()
0 <noise>
ACTION: # 238
screwpendulumhead()
CONTEXT:
-pendulumplacedPn()
OUTCOMES:
1
0 <noise>
ACTION: # 92
repositionpeg1()
CONTEXT:
OUTCOMES:
1 -horizontalB1()
0 <noise>
ACTION: # 214
placeseparator()
CONTEXT:
OUTCOMES:
1 separatorplacedSp()
0 <noise>
ACTION: # 223
placefaceplatefront()
CONTEXT:
separatorplacedSp()
OUTCOMES:
1 faceplatefrontplacedFf() -clearB1() -clearB2() -clearB3() -clearB4() -clearPn() -clearSp()
0 <noise>
ACTION: # 226
placefaceplatefront()
CONTEXT:
-separatorplacedSp()
OUTCOMES:
1
0 <noise>
ACTION: # 147
placepeg3()
CONTEXT:
OUTCOMES:
1 pegplacedB3FbHb3() -freeFbHb3()
0 <noise>
ACTION: # 38
placeshaft()
CONTEXT:
OUTCOMES:
1 shaftplacedSh() -freeFbHsh()
0 <noise>
ACTION: # 183
placepeg1()
CONTEXT:
clearB1() -freeFbHsh()
OUTCOMES:
1 pegplacedB1FbHb1() -freeFbHb1()
0 <noise>
ACTION: # 295
placepeg1()
CONTEXT:
clearB1() freeFbHsh()
OUTCOMES:
1 -clearB1()
0 <noise>
ACTION: # 309
placepeg1()
CONTEXT:
-clearB1()
OUTCOMES:
1
0 <noise>
freeFbHb1() -clearB1() -pegplacedB1FbHb1() freeFbHb2() clearB2() -pegplacedB2FbHb2() -freeFbHb3() clearB3() pegplacedB3FbHb3() freeFbHb4() clearB4() -pegplacedB4FbHb4() -freeFbHsh() clearSh() shaftplacedSh() clearSp() -separatorplacedSp() clearPn() -pendulumplacedPn() clearPh() -pendulumheadscrewedPh() clearFf() -faceplatefrontplacedFf() horizontalB1() -horizontalB2() -horizontalB3() -horizontalB4() -horizontalSh()
\ No newline at end of file
<init>
(define (domain ppddl_mdp)
(:requirements :fluents :adl :probabilistic-effects :rewards :conditional-effects)
<pre_domain>
(:predicates
(vehicle_at__71)
(vehicle_at__72)
(vehicle_at__73)
(vehicle_at__81)
(vehicle_at__82)
(vehicle_at__91)
(spare_in__71)
(spare_in__72)
(spare_in__73)
(spare_in__81)
(spare_in__82)
(spare_in__91)
(road__71_72)
(road__71_81)
(road__72_73)
(road__72_82)
(road__81_72)
(road__81_82)
(road__81_91)
(road__82_73)
(road__91_82)
(not_flattire)
(hasspare)
)
<pre_rules>
(:action placeshaft
:effect (and
(when (and (ontable_sh) (free_fb_hsh)) (probabilistic 1.0 (and (shaftplaced_sh) (not (ontable_sh)) (not(free_fb_hsh)))))
; Reward
(when (not (faceplatefrontplaced_ff)) (decrease (reward) 1.0))
)
)
(:action placependulum
:effect (and
(when (and (shaftplaced_sh) (ontable_pn)) (pendulumplaced_pn))
; Reward
(when (not (faceplatefrontplaced_ff)) (decrease (reward) 1.0))
)
)
(:action screwpendulumhead
:effect (and
(when (and (pendulumplaced_pn) (ontable_ph)) (probabilistic 1.0 (and (pendulumheadscrewed_ph) (not (ontable_ph)))))
; Reward
(when (not (faceplatefrontplaced_ff)) (decrease (reward) 1.0))
)
)
(:action placefaceplatefront
:parameters
(?rover)
:effect (and
(when (and (rover ?rover) (separatorplaced_sp ?rover) (pendulumplaced_pn)) (probabilistic 1.0 (faceplatefrontplaced_ff)))
; Reward
(when (not (faceplatefrontplaced_ff)) (decrease (reward) 1.0))
)
)
<noop_rule>
(:action noop
:effect (and
(when (and
(vehicle_at__71)
(vehicle_at__72)
(vehicle_at__73)
(vehicle_at__81)
(vehicle_at__82)
(vehicle_at__91)
(spare_in__71)
(spare_in__72)
(spare_in__73)
(spare_in__81)
(spare_in__82)
(spare_in__91)
(road__71_72)
(road__71_81)
(road__72_73)
(road__72_82)
(road__81_82)
(road__81_91)
(road__82_73)
(road__91_82)
(not_flattire)
(hasspare)
)
(probabilistic 1.0 (and
(vehicle_at__71)
(vehicle_at__72)
(vehicle_at__73)
(vehicle_at__81)
(vehicle_at__82)
(vehicle_at__91)
(spare_in__71)
(spare_in__72)
(spare_in__73)
(spare_in__81)
(spare_in__82)
(spare_in__91)
(road__71_72)
(road__71_81)
(road__72_73)
(road__72_82)
(road__81_82)
(road__81_91)
(road__82_73)
(road__91_82)
(not_flattire)
(hasspare)
))
)
(when (and
(not (vehicle_at__71))
(not (vehicle_at__72))
(not (vehicle_at__73))
(not (vehicle_at__81))
(not (vehicle_at__82))
(not (vehicle_at__91))
(not (spare_in__71))
(not (spare_in__72))
(not (spare_in__73))
(not (spare_in__81))
(not (spare_in__82))
(not (spare_in__91))
(not (road__71_72))
(not (road__71_81))
(not (road__72_73))
(not (road__72_82))
(not (road__81_82))
(not (road__81_91))
(not (road__82_73))
(not (road__91_82))
(not (not_flattire))
(not (hasspare))
)
(probabilistic 1.0 (and
(not (vehicle_at__71))
(not (vehicle_at__72))
(not (vehicle_at__73))
(not (vehicle_at__81))
(not (vehicle_at__82))
(not (vehicle_at__91))
(not (spare_in__71))
(not (spare_in__72))
(not (spare_in__73))
(not (spare_in__81))
(not (spare_in__82))
(not (spare_in__91))
(not (road__71_72))
(not (road__71_81))
(not (road__72_73))
(not (road__72_82))
(not (road__81_82))
(not (road__81_72))
(not (road__81_91))
(not (road__82_73))
(not (road__91_82))
(not (not_flattire))
(not (hasspare))
))
)
; Reward
(when (not (vehicle_at__73)) (decrease (reward) 0.9))
)
)
<post_rules>
)
(define (problem ppddl_mdp__1)
(:domain ppddl_mdp)
(:init
)
(:metric maximize (reward))
;; (:horizon <horizon>)
;; (:discount 1.0)
)
<end>
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